FR2416095A1 - AUTOMATED MACHINING SYSTEM - Google Patents

AUTOMATED MACHINING SYSTEM

Info

Publication number
FR2416095A1
FR2416095A1 FR7901911A FR7901911A FR2416095A1 FR 2416095 A1 FR2416095 A1 FR 2416095A1 FR 7901911 A FR7901911 A FR 7901911A FR 7901911 A FR7901911 A FR 7901911A FR 2416095 A1 FR2416095 A1 FR 2416095A1
Authority
FR
France
Prior art keywords
wrist
arm
machining system
automated machining
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
FR7901911A
Other languages
French (fr)
Other versions
FR2416095B1 (en
Inventor
Hajimu Inaba
Shigemi Inagaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fujitsu Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujitsu Fanuc Ltd filed Critical Fujitsu Fanuc Ltd
Publication of FR2416095A1 publication Critical patent/FR2416095A1/en
Application granted granted Critical
Publication of FR2416095B1 publication Critical patent/FR2416095B1/fr
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

Système d'usinage automatisé servant notamment à charger et enlever les pièces à usiner dans un système de machine-outil à commande numérique assistée par ordinateur. Le dispositif comporte un bras 21, un poignet 22 lié au bras 21, par rapport auquel il peut prendre des orientations selon des angles prédéterminés, et une main 23 raccordée au poignet 22 par une liaison pivotante. Le poignet 22 comprend des moyens pour modifier l'angle alpha de son axe avec l'axe du bras 21, et l'un de ces moyens 28 sert au réglage de l'angle. Dans ce système, le poignet 22 peut être fléchi dans toutes les directions. Application aux industries mécaniques.An automated machining system used in particular to load and remove workpieces in a computer numerically controlled machine tool system. The device comprises an arm 21, a wrist 22 linked to the arm 21, with respect to which it can take orientations at predetermined angles, and a hand 23 connected to the wrist 22 by a pivoting link. The wrist 22 comprises means for modifying the angle alpha of its axis with the axis of the arm 21, and one of these means 28 serves to adjust the angle. In this system, the wrist 22 can be flexed in all directions. Application to the mechanical industries.

FR7901911A 1978-01-31 1979-01-25 AUTOMATED MACHINING SYSTEM Granted FR2416095A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1978009662U JPS571116Y2 (en) 1978-01-31 1978-01-31

Publications (2)

Publication Number Publication Date
FR2416095A1 true FR2416095A1 (en) 1979-08-31
FR2416095B1 FR2416095B1 (en) 1983-10-28

Family

ID=11726419

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7901911A Granted FR2416095A1 (en) 1978-01-31 1979-01-25 AUTOMATED MACHINING SYSTEM

Country Status (5)

Country Link
US (1) US4299529A (en)
JP (1) JPS571116Y2 (en)
DE (2) DE2903186A1 (en)
FR (1) FR2416095A1 (en)
GB (1) GB2013535B (en)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3018232C2 (en) * 1980-05-13 1982-04-08 Fa. Hermann Heye, 3063 Obernkirchen Dispensing station of a glass forming machine
IT1129497B (en) * 1980-12-29 1986-06-04 Teksid Spa AUTOMATIC SYSTEM FOR HOT MOLDING AND DEBURRING OF METAL PARTS
JPS5834788A (en) * 1981-08-25 1983-03-01 フアナツク株式会社 Hand for industrial robot
US4498833A (en) * 1982-05-24 1985-02-12 Varian Associates, Inc. Wafer orientation system
US4705447A (en) * 1983-08-11 1987-11-10 Intest Corporation Electronic test head positioner for test systems
US5149029A (en) * 1982-08-25 1992-09-22 Intest Corporation Electronic test head positioner for test systems
US4527942A (en) * 1982-08-25 1985-07-09 Intest Corporation Electronic test head positioner for test systems
US4588346A (en) * 1982-08-25 1986-05-13 Intest Corporation Positioner for maintaining an object in a substantially weightless condition
DE3242285A1 (en) * 1982-11-16 1984-05-17 Gewerkschaft Eisenhütte Westfalia, 4670 Lünen DEVICE FOR CLEANING REMAINING ANODES
JPS60146685U (en) * 1984-03-12 1985-09-28 株式会社三協精機製作所 Vertical movement head of rotating arm
US4730388A (en) * 1984-06-06 1988-03-15 Westinghouse Electric Corp. Replacement of split-pin assemblies in nuclear reactor
US4652204A (en) * 1985-08-02 1987-03-24 Arnett Edward M Apparatus for handling hazardous materials
JPS6361140U (en) * 1986-10-11 1988-04-22
FR2639573A1 (en) * 1988-11-30 1990-06-01 Snecma Flexible support arranged between a tool holder and a movable arm of a robot
US5201617A (en) * 1989-10-04 1993-04-13 Societe Nationale D'etude Et De Construction De Moteurs D'aviation S.N.E.C.M.A. Apparatus for supporting a machine tool on a robot arm
FR2652530A1 (en) * 1989-10-04 1991-04-05 Snecma MILLING HEAD, PARTICULARLY FOR MACHINING ROBOT.
US5183366A (en) * 1990-12-04 1993-02-02 Longyear Company Rod handler apparatus
US5241870A (en) * 1991-07-22 1993-09-07 Intest Corporation Test head manipulator
US5183350A (en) * 1991-12-12 1993-02-02 Holotek Ltd. Adjustable fixed mount for a hologon deflector
DE69522586T2 (en) * 1995-02-23 2002-07-11 Aesop Inc MANIPULATOR FOR A TEST HEAD OF AN AUTOMATIC TEST SYSTEM
US5606262A (en) * 1995-06-07 1997-02-25 Teradyne, Inc. Manipulator for automatic test equipment test head
US5738481A (en) * 1996-12-02 1998-04-14 Rogers; Vincent Universally actuable robot assembly
US8459140B2 (en) * 2007-04-18 2013-06-11 Fabworx Solutions, Inc. Adjustable wrist design for robotic arm
EP2340772B1 (en) * 2008-08-12 2018-03-21 NTN Corporation Remote-controlled actuator
EP2361563A4 (en) 2008-09-11 2015-04-08 Ntn Toyo Bearing Co Ltd Remote control actuator
WO2010137603A1 (en) * 2009-05-29 2010-12-02 Ntn株式会社 Remotely operated actuator
CN102642125A (en) * 2012-05-07 2012-08-22 南车戚墅堰机车有限公司 Axle tilter
KR102581315B1 (en) * 2017-11-22 2023-09-22 도쿄엘렉트론가부시키가이샤 Substrate transport device, substrate processing system, substrate processing method, and computer storage medium
CN110587585A (en) * 2019-08-15 2019-12-20 郑州中普医疗器械有限公司 Can freely snatch manipulator device to slide
CN110919645B (en) * 2019-10-24 2022-02-15 江苏东曌建筑产业创新发展研究院有限公司 Automatic change construction robot
CN110774044A (en) * 2019-11-09 2020-02-11 江苏欣汇汉德精密机械科技有限公司 Numerical control machine tool feeding device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH370168A (en) * 1960-02-16 1963-06-30 Commissariat Energie Atomique Remote handling device
US3227290A (en) * 1963-01-11 1966-01-04 Jerome H Lemelson Article handling apparatus
GB1039225A (en) * 1962-07-25 1966-08-17 Hurth Masch Zahnrad Carl Apparatus for transporting workpieces and loading and unloading machine tools
DE1652869A1 (en) * 1968-01-08 1971-02-25 Hans Gotz Assembly aid
FR2125385A1 (en) * 1971-02-12 1972-09-29 Electrolux Ab
US3905569A (en) * 1974-04-08 1975-09-16 Shiroyama Kogyo Kk Apparatus for changing the position of a manipulator arm

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US650882A (en) * 1899-12-07 1900-06-05 Willis F Walker Pick.
FR1255924A (en) * 1957-12-26 1961-03-17 Fresard Pannetton Ets Method for arranging a gripper arm with multiple positions and the gripper arm thus obtained
JPS5025234B1 (en) * 1970-02-20 1975-08-21
US3765474A (en) * 1971-06-14 1973-10-16 Rimrock Corp Article forming machine and extractor
JPS5425196B2 (en) * 1972-03-16 1979-08-25
JPS5125347Y2 (en) * 1972-08-21 1976-06-28
JPS5357663A (en) * 1976-11-01 1978-05-25 Kawasaki Heavy Ind Ltd Arrangement for wrist of industrial robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH370168A (en) * 1960-02-16 1963-06-30 Commissariat Energie Atomique Remote handling device
GB1039225A (en) * 1962-07-25 1966-08-17 Hurth Masch Zahnrad Carl Apparatus for transporting workpieces and loading and unloading machine tools
US3227290A (en) * 1963-01-11 1966-01-04 Jerome H Lemelson Article handling apparatus
DE1652869A1 (en) * 1968-01-08 1971-02-25 Hans Gotz Assembly aid
FR2125385A1 (en) * 1971-02-12 1972-09-29 Electrolux Ab
US3905569A (en) * 1974-04-08 1975-09-16 Shiroyama Kogyo Kk Apparatus for changing the position of a manipulator arm

Also Published As

Publication number Publication date
FR2416095B1 (en) 1983-10-28
GB2013535B (en) 1982-02-17
DE7902275U1 (en) 1983-07-28
JPS54114277U (en) 1979-08-10
DE2903186A1 (en) 1979-08-02
GB2013535A (en) 1979-08-15
US4299529A (en) 1981-11-10
JPS571116Y2 (en) 1982-01-08

Similar Documents

Publication Publication Date Title
FR2416095A1 (en) AUTOMATED MACHINING SYSTEM
FR2416096A1 (en) AUTOMATED MACHINING DEVICE
EP0142072A3 (en) Grinding robot
ATE73375T1 (en) ROBOT ACTUATOR.
DE69017362T2 (en) Agricultural machine with improved suspension device of the work tool unit.
FR2417133A1 (en) POSITIONING DEVICE FOR INDUSTRIAL ROBOTS
ATE77788T1 (en) ROBOT ARM.
DE60006165D1 (en) INDUSTRIAL ROBOTS
ES8307154A1 (en) Pick and place robot.
CN108127648A (en) A kind of numerically-controlled machine tool clamping manipulator executing agency
DE50013310D1 (en) MACHINING MACHINE FOR MULTIPLE MOVEMENT OF A TOOL OR WORKPIECE
ES8606050A1 (en) Device for exchanging tools or the like at the spindle of a machine tool.
CA2035763A1 (en) Adaptable tool-holder assembly for robitized adjustment
ES8501280A1 (en) Adjustable tool supporting device for a robot.
FR2469375A1 (en) DUAL-PENSIONER LOADING DEVICE
ATE27238T1 (en) LATHE TOOL.
DE69514973T2 (en) Quick coupling for attaching work tools to an excavator boom
FR2421070A1 (en) MOTION TRANSMISSION MECHANISM
SU1399059A1 (en) Self-centering clamping device
FR2386386A1 (en) Machine tool monitoring instrument support - has compass arm cantilevering from pin joint on bracket and with terminal pin joint to instrument table
ATE233147T1 (en) TRANSPORT DEVICE FOR WORKPIECES THAT MUST BE PROCESSED USING SPARK EDM MACHINES
SE8300326D0 (en) LIFTING
SU1505703A1 (en) Templet of duplicating device for positioning tool in the process of working
FR2408420A1 (en) SELF-CENTERING MACHINE TOOL FOR THE POSITIONING OF A WORKPIECE
MAGNANI Robot system for dexterous tasks(for space applications)

Legal Events

Date Code Title Description
ST Notification of lapse